Crawler robot for concrete floor trowelling

Abstract

The utility model discloses a caterpillar robot for concrete ground trowelling, including fuselage, caterpillar walking mechanism and trowelling device, wherein, trowelling device installs the front of fuselage, and caterpillar walking mechanism is located the bottom of fuselage, trowelling device includes trowel, rotating mechanism, mechanical arm and swing mechanism, wherein, swing mechanism sets up on the fuselage, and mechanical arm sets up on swing mechanism, rotating mechanism sets up on the movable end of mechanical arm, and trowel is connected with rotating mechanism. Therefore, can realize efficient, accurate, stable concrete ground trowelling operation, effectively promotes construction efficiency, guarantees construction quality, reduces construction cost.

Description

Technical Field

[0001] This utility model relates to the technical field of concrete floor smoothing robots, and more particularly to a tracked robot for smoothing concrete floors. Background Technology

[0002] In the field of construction engineering, the smoothing of concrete floors is a key step in ensuring the flatness, strength and subsequent construction quality of the floor. In related technologies, the traditional smoothing of concrete floors mainly relies on manual operation, that is, the surface of the concrete after initial setting is smoothed by hand using a power trowel or scraper.

[0003] However, manual operation is greatly affected by subjective factors. Fluctuations in the physical strength of operators and differences in operating habits can lead to inconsistent smoothing quality, resulting in problems such as insufficient surface flatness, obvious trowel marks, and uneven density, which affect the subsequent performance of the floor. Furthermore, large-scale smoothing operations require a continuous investment of a large amount of human resources, which not only increases labor costs but also incurs additional costs such as operator training and management, resulting in high overall construction costs. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, this utility model proposes a tracked robot for smoothing concrete floors, which can achieve efficient, precise and stable smoothing operations on concrete floors, effectively improving construction efficiency, ensuring construction quality and reducing construction costs.

[0006] To achieve the above objectives, this utility model proposes a tracked robot for smoothing concrete floors, comprising a body, a tracked walking mechanism, and a smoothing device. The smoothing device is installed at the front of the body, and the tracked walking mechanism is located at the bottom of the body. The smoothing device includes a smoothing disc, a rotating mechanism, a robotic arm, and a swinging mechanism. The swinging mechanism is disposed on the body, and the robotic arm is disposed on the swinging mechanism. The rotating mechanism is disposed on the movable end of the robotic arm, and the smoothing disc is connected to the rotating mechanism.

[0007] This utility model relates to a tracked robot for smoothing concrete floors, which can achieve efficient, precise, and stable smoothing operations, effectively improving construction efficiency, ensuring construction quality, and reducing construction costs.

[0008] In addition, the tracked robot for smoothing concrete floors proposed in this application may also have the following additional technical features:

[0009] Specifically, the tracked walking mechanism may include a fixed frame, two annular tracks, two sets of drive wheels, two sets of guide wheels, and multiple sets of support rollers. The fixed frame is fixedly connected to the machine body. The two sets of drive wheels and the two sets of guide wheels are symmetrically installed on the front and rear sides of the fixed frame. Each set of drive wheels is driven by an independent first motor through a reducer. The two annular tracks respectively encircle the drive wheel and the guide wheel on the same side to form a closed loop. Each annular track has a transmission tooth groove on its inner side that matches the drive wheel to achieve meshing transmission. The multiple sets of support rollers are evenly distributed on the bottom inner side of the annular tracks, supporting the annular tracks and distributing the weight of the machine body through rolling contact.

[0010] Specifically, the swing mechanism includes a turntable and a second motor. The turntable is rotatably mounted on the machine body, and the robotic arm is fixedly mounted on the turntable. The second motor is fixedly mounted on the machine body and is located below the turntable. The output shaft of the second motor is coaxially and fixedly connected to the rotating shaft of the turntable through a coupling.

[0011] Specifically, the rotating mechanism includes a mounting frame, a third motor, and a rotating rod. The mounting frame is fixedly mounted on the movable end of the robotic arm, and the third motor is fixedly mounted on the mounting frame. The rotating rod is rotatably connected to the mounting frame, and the top end of the rotating rod is coaxially and fixedly connected to the output shaft of the third motor via a coupling. The wiping disc is fixedly mounted on the bottom end of the rotating rod.

[0012] Specifically, it also includes a protective cover, which is fitted onto the mounting bracket and positioned above the smear tray.

[0013] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0015] Figure 1 This is a three-dimensional structural diagram of a tracked robot for smoothing concrete floors according to an embodiment of the present invention.

[0016] Figure 2 This is a top view of a tracked robot for smoothing concrete floors according to one embodiment of the present invention.

[0017] Figure 3 This is a front view structural schematic diagram of a tracked robot for smoothing concrete floors according to an embodiment of the present invention.

[0018] Figure 4 This is a cross-sectional schematic diagram of the rotating mechanism of a tracked robot used for smoothing concrete floors, according to one embodiment of the present invention.

[0019] As shown in the figure: 1. Machine body; 2. Wiping tray; 3. Robotic arm; 4. Fixing frame; 5. Circular track; 6. Drive wheel; 7. Guide wheel; 8. Support roller; 9. Turntable; 10. Mounting frame; 11. Rotating rod; 12. Protective cover; 13. Third motor; 14. Chassis. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. Rather, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0021] The following description, in conjunction with the accompanying drawings, describes a tracked robot for smoothing concrete floors according to an embodiment of the present invention.

[0022] like Figures 1-4 As shown, the tracked robot for smoothing concrete floors according to this utility model embodiment may include a body 1, a tracked walking mechanism, and a smoothing device.

[0023] The smoothing device is installed at the front of the fuselage 1, and the track walking mechanism is located at the bottom of the fuselage 1.

[0024] The smoothing device may include a smoothing plate 2, a rotating mechanism, a robotic arm 3, and a swinging mechanism.

[0025] The swing mechanism is mounted on the machine body 1, the robotic arm 3 is mounted on the swing mechanism, the rotating mechanism is mounted on the movable end of the robotic arm 3, and the smearing plate 2 is connected to the rotating mechanism.

[0026] It should be noted that the robotic arm 3 described in this embodiment is prior art. It is composed of multiple sequentially hinged arm sections and drive components (such as servo motors, hydraulic cylinders, etc.) that drive each arm section to rotate. Adjacent arm sections are connected by a rotating shaft. The drive components can drive each arm section to rotate around the corresponding rotating shaft at a certain angle. Through the coordinated action of each arm section, multi-degree-of-freedom motion of the robotic arm's movable end can be realized, thereby fine-tuning the angle of the smear plate 2 connected to the rotating mechanism.

[0027] When encountering uneven ground, the robotic arm 3 can adjust the rotation angle of each arm segment according to the actual unevenness of the ground, thereby changing the tilt angle between the smearing plate 2 and the ground. This ensures that the smearing plate 2 can always maintain good contact with the ground, thus ensuring effective smoothing operations on ground with different degrees of unevenness, and further improving the robot's adaptability to complex ground environments.

[0028] It should also be noted that the tracked robot for smoothing concrete floors described in this embodiment also includes a control component. The control component is mounted on the body 1 via a housing 14, which is fixedly installed on the body 1 to provide protection and a mounting carrier for the control component.

[0029] The control component establishes a connection with each mechanism via wired or wireless communication. The control system is connected to the first motor of the tracked walking mechanism. The control component can send drive signals to the first motor to control its start, stop, speed and direction, thereby controlling the rotation state of the drive wheel 6 and realizing the robot's forward, backward, turning and walking speed adjustment to meet the movement requirements during the leveling operation.

[0030] The control component is connected to the second motor of the swing mechanism and can control the operating status of the second motor. By adjusting the rotation angle and speed of the second motor, the turntable 9 is driven to rotate at the corresponding angle, thereby adjusting the swing direction and amplitude of the robotic arm 3 and the squeezing plate 2, and expanding the coverage of the squeezing operation.

[0031] The control component is connected to the third motor 13 of the rotating mechanism, and can control the working state of the third motor 13. By changing its speed, the rotation speed of the rotating rod 11 and the trowel 2 is adjusted to ensure that the trowel 2 performs the troweling operation on the concrete floor at a suitable speed, thereby improving the troweling effect.

[0032] The control component is connected to the drive component of the robotic arm 3. It can receive the position and angle information fed back by the robotic arm 3 and send control commands to each drive component (such as servo motors, hydraulic cylinders, etc.) to precisely control the rotation angle and speed of each arm segment, so as to achieve fine adjustment of the angle of the wiping plate 2, enabling the wiping plate 2 to adapt to the undulating ground and ensure good contact with the ground.

[0033] By coordinating the control of various mechanisms through the control components, the robot can efficiently and accurately complete the smoothing of the concrete floor according to the preset program or real-time operation instructions, ensuring construction quality and work efficiency.

[0034] Specifically, when smoothing concrete floors, personnel drive a robot to move within the work area via a tracked walking mechanism. The control components, based on preset paths or operator instructions, perform actions such as straight-line movement and turning, precisely positioning the smoothing device to the area to be treated.

[0035] The second motor of the swing mechanism receives instructions from the control component and drives the turntable to rotate horizontally. Through preset programs or real-time adjustments, the robotic arm 3 and the end plate 2 can achieve fan-shaped swing within a certain range (such as ±120°), effectively expanding the working width of a single positioning, reducing the overall movement frequency of the robot, and improving work efficiency.

[0036] When the tracked robot moves to undulating ground, the multi-joint drive components (servo motors, hydraulic cylinders) of the robotic arm receive real-time instructions from the control components. Through the coordinated rotation of each arm segment (such as shoulder joint ±90°, elbow joint ±120°, wrist joint ±45°), the angle between the smear plate 2 and the ground is quickly adjusted to increase the effective contact area between the smear plate 2 and the ground.

[0037] The third motor 13 of the rotating mechanism drives the trowel 2 to rotate at an adjustable speed of 120-300 rpm. The control component can match the optimal speed according to the type of concrete (such as ordinary concrete or wear-resistant flooring). During the troweling process, the control component continuously monitors the load current of each motor. When an abnormal local resistance is detected (such as a bump or depression), the posture of the robotic arm 3 is immediately finely adjusted to maintain constant troweling pressure.

[0038] The control component adopts a fuzzy PID control algorithm, which calculates the optimal robotic arm posture parameters in real time based on feedback from the ground flatness sensor (with optional laser rangefinder or tilt sensor) to ensure that the robot can achieve a continuous and uniform ground smoothing effect.

[0039] In one embodiment of this utility model, such as Figures 1-3 As shown, the tracked traveling mechanism may include a fixed frame 4, two annular tracks 5, two sets of drive wheels 6, two sets of guide wheels 7, and multiple sets of support rollers 8.

[0040] The fixed frame 4 is fixedly connected to the body 1. Two sets of drive wheels 6 and two sets of guide wheels 7 are symmetrically installed on the front and rear sides of the fixed frame 4. Each set of drive wheels 6 is driven by an independent first motor through a reducer. Two annular tracks 5 are respectively encircled by the drive wheels 6 and guide wheels 7 on the same side to form a closed loop. The inner side of each annular track 5 is provided with transmission tooth grooves that are adapted to the drive wheels 6 to achieve meshing transmission. Multiple sets of support rollers 8 are evenly distributed on the bottom of the inner side of the annular track 5, which support the annular track 5 and distribute the weight of the body 1 through rolling contact.

[0041] Specifically, the two independent first motors convert electrical energy into mechanical energy, which is then transmitted to the drive wheel 6 after the speed is reduced and the torque is increased by the reducer.

[0042] The transmission teeth on the surface of the drive wheel 6 mesh with the tooth grooves on the inner side of the track 5, forming a gear-rack-like transmission system. When the drive wheel 6 rotates, the track 5 is driven to circulate along the closed path formed by the drive wheel and the guide wheel through the inter-tooth force. When the track 5 contacts the ground, the teeth or patterns of its contact section generate friction with the ground. According to Newton's third law, the ground reaction force is transmitted to the machine body 1 through the track 5, the support roller 8, and the fixed frame 4, driving the whole machine forward or backward.

[0043] The speed difference between the first motors on both sides is adjusted by the control system to create a speed difference between the left and right tracks. For example:

[0044] When the speed of the left track is greater than that of the right track, the fuselage turns to the right; when the speed of the left track is less than that of the right track, the fuselage turns to the left; when the tracks move in opposite directions, the fuselage rotates in place. The greater the speed difference between the two tracks, the smaller the turning radius. When one track is stationary and the other is moving forward, the minimum radius turning is achieved.

[0045] The support rollers 8 are evenly distributed along the length of the track, distributing the weight of the machine body to the track ground section to avoid excessive local pressure. The rolling friction reduces the running resistance of the track and limits the lateral deviation of the track, ensuring operational stability.

[0046] The guide wheel 7 is located at the front end of the track and provides preload through a tensioning device (such as a spring or hydraulic cylinder) to prevent the track from loosening and derailing. Its surface is designed as a drum shape or a flanged structure to guide the track to rotate correctly and avoid deviation.

[0047] In one embodiment of this utility model, such as Figures 1-3 As shown, the swing mechanism may include a turntable 9 and a second motor. The turntable 9 is rotatably mounted on the machine body 1, the robotic arm 3 is fixedly mounted on the turntable 9, and the second motor is fixedly mounted on the machine body 1. The second motor is located below the turntable 9, and the output shaft of the second motor is coaxially and fixedly connected to the rotating shaft of the turntable 9 through a coupling.

[0048] Specifically, the power of the swing mechanism is provided by the second motor, which is fixedly installed on the body 1 and located below the turntable 9, forming a stable power output base. When the second motor receives the drive signal from the control component, the motor output shaft starts to rotate, and the torque is directly transmitted to the rotating shaft of the turntable 9 through the coupling.

[0049] The turntable 9 is mounted on the machine body 1 via a rotating structure (such as a bearing assembly) and can rotate freely around its own axis. When the second motor drives the turntable 9 to rotate, the robotic arm 3, which is fixedly mounted on the turntable 9, will rotate synchronously with the swing of the turntable 9, thereby driving the rotating mechanism at the movable end of the robotic arm and the wiping plate 2 to complete the circumferential swing together.

[0050] The wiping tray 2 can form a fan-shaped motion trajectory on the horizontal plane as the turntable 9 swings (e.g., within the ±120° range preset by the control components). Without moving the entire robot, the robotic arm 3 and the swing mechanism can cooperate to cover a larger lateral area at the front of the robot body, reducing the frequency of movement of the tracked walking mechanism and improving work efficiency.

[0051] In one embodiment of this utility model, such as Figure 4 As shown, the rotating mechanism may include a mounting frame 10, a third motor 13, and a rotating rod 11.

[0052] The mounting frame 10 is fixedly mounted on the movable end of the robotic arm 3, the third motor 13 is fixedly mounted on the mounting frame 10, the rotating rod 11 is rotatably connected to the mounting frame 10, the top end of the rotating rod 11 is coaxially fixedly connected to the output shaft of the third motor 13 through a coupling, and the wiping plate 2 is fixedly mounted on the bottom end of the rotating rod 11.

[0053] Specifically, the third motor 13 is fixed on the mounting frame 10 as a power source, and the mounting frame 10 is rigidly connected to the movable end of the robotic arm 3 to form a stable power output base. When the third motor 13 receives the command from the control component, its output shaft starts to rotate and transmits the torque directly to the rotating rod 11 through the coupling.

[0054] The rotating rod 11 is connected to the mounting frame 10 through a rotating structure such as bearings, and can rotate freely around its own axis. When the motor drives the rotating rod 11 to rotate, the trowel 2 fixed at the bottom of the rotating rod 11 rotates synchronously with it, converting the rotational power of the motor into the mechanical smoothing action of the trowel on the concrete surface. At the same time, the mounting frame 10 provides rigid support for the rotating rod 11 and the third motor 13, preventing the trowel from shifting due to vibration during rotation and ensuring the stability of the movement.

[0055] The rotating trowel 2 compacts and smooths the surface of the initially set concrete by contacting the concrete surface, eliminating surface air bubbles and protrusions, and improving the flatness and density of the ground.

[0056] The control component can adjust the rotation speed of the trowel 2 by adjusting the rotation speed of the third motor 13, and match the optimal rotation speed for different types of concrete (such as ordinary concrete and wear-resistant flooring) or different solidification stages (for example, use a higher rotation speed to quickly smooth concrete that sets faster) to ensure smoothing effect.

[0057] The rotating mechanism is installed on the movable end of the robotic arm 3. It can change its position and posture with the multi-degree-of-freedom adjustment of the robotic arm (such as arm segment rotation and angle fine adjustment). For example, when the robotic arm adjusts the tilt angle between the trowel 2 and the ground, the rotating mechanism can still keep the trowel rotating stably, ensuring that the trowel always contacts the concrete surface at a suitable angle and speed in undulating ground or corner areas, avoiding missed troweling or excessive compaction.

[0058] In one embodiment of this utility model, such as Figures 1-3 As shown, the tracked robot for smoothing concrete floors in the above embodiment may also include a protective cover 12, which is sleeved on the mounting frame 10 and is located above the trowel 2.

[0059] Specifically, when the trowel 2 is used to smooth the concrete floor, it will come into contact with the concrete surface in its initial setting state. During this process, concrete debris and mud may be splashed. The protective cover 12 is located above the trowel 2 and is fitted onto the mounting frame 10, which can form a physical barrier to reduce the splashing of concrete debris, mud and other impurities.

[0060] In summary, the tracked intelligent robot for smoothing concrete floors according to this utility model embodiment can achieve efficient, precise, and stable smoothing operations on concrete floors, effectively improving construction efficiency, ensuring construction quality, and reducing construction costs.

[0061] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A tracked robot for smoothing concrete floors, characterized in that, Includes the fuselage, tracked walking mechanism, and leveling device, among which, The smoothing device is installed at the front of the machine body, and the tracked walking mechanism is located at the bottom of the machine body; The smoothing device includes a smoothing disc, a rotating mechanism, a robotic arm, and a swinging mechanism, wherein... The swing mechanism is mounted on the machine body, and the robotic arm is mounted on the swing mechanism; The rotating mechanism is located on the movable end of the robotic arm, and the smear plate is connected to the rotating mechanism.

2. The tracked robot for smoothing concrete floors according to claim 1, characterized in that, The tracked walking mechanism may include a fixed frame, two annular tracks, two sets of drive wheels, two sets of guide wheels, and multiple sets of support rollers, wherein... The fixed frame is fixedly connected to the machine body, and the two sets of drive wheels and the two sets of guide wheels are symmetrically installed on the front and rear sides of the fixed frame, respectively. Each set of drive wheels is driven by an independent first motor through a reducer. The two annular tracks respectively encircle the drive wheel and the guide wheel on the same side to form a closed loop. The inner side of each annular track is provided with a transmission tooth groove that matches the drive wheel to realize meshing transmission. Multiple sets of support rollers are evenly distributed on the bottom inner side of the annular track, supporting the annular track and distributing the weight of the machine body through rolling contact.

3. The tracked robot for smoothing concrete floors according to claim 1, characterized in that, The swing mechanism includes a turntable and a second motor. The turntable is rotatably mounted on the machine body, and the robotic arm is fixedly mounted on the turntable. The second motor is fixedly mounted on the machine body and is located below the turntable. The output shaft of the second motor is coaxially and fixedly connected to the rotating shaft of the turntable through a coupling.

4. The tracked robot for smoothing concrete floors according to claim 1, characterized in that, The rotating mechanism includes a mounting frame, a third motor, and a rotating rod, wherein, The mounting frame is fixedly mounted on the movable end of the robotic arm, and the third motor is fixedly mounted on the mounting frame; The rotating rod is rotatably connected to the mounting bracket, and the top end of the rotating rod is coaxially and fixedly connected to the output shaft of the third motor through a coupling. The wiping disc is fixedly disposed at the bottom end of the rotating rod.

5. The tracked robot for smoothing concrete floors according to claim 4, characterized in that, It also includes a protective cover, which is fitted onto the mounting bracket and positioned above the smear plate.

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